diff options
| -rw-r--r-- | config/generic-replicape.cfg | 14 | ||||
| -rw-r--r-- | klippy/extras/replicape.py | 51 |
2 files changed, 49 insertions, 16 deletions
diff --git a/config/generic-replicape.cfg b/config/generic-replicape.cfg index d36f9eb7..fe685b31 100644 --- a/config/generic-replicape.cfg +++ b/config/generic-replicape.cfg @@ -38,12 +38,6 @@ host_mcu: host # This parameter controls the CFG6_ENN line on all stepper # motors. True sets the enable lines to "open". The default is # False. -#servo0_enable: False -# This parameter controls whether end_stop_X_2 is used for endstops -# (via P9_11) or for servo_0 (via P9_14). The default is False. -#servo1_enable: False -# This parameter controls whether end_stop_Y_2 is used for endstops -# (via P9_28) or for servo_1 (via P9_16). The default is False. stepper_x_microstep_mode: spread16 # This parameter controls the CFG1 and CFG2 pins of the given # stepper motor driver. Available options are: disable, 1, 2, @@ -132,3 +126,11 @@ max_temp: 130 [fan] pin: replicape:power_fan0 + +# The alternative servo pins channels on the endstops x2 and y2 can be used +# via the special relicape pins servo0 (P9_14) and servo1 (P9_16). +#[servo servo_x2] +#pin: replicape:servo0 +# PWM output pin controlling the servo. This parameter must be +# provided. +#... diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py index 387c4764..12eb1454 100644 --- a/klippy/extras/replicape.py +++ b/klippy/extras/replicape.py @@ -108,6 +108,32 @@ class ReplicapeDACEnable: else: self.pwm.set_pwm(print_time, 0.) +SERVO_PINS = { + "servo0": ("pwmchip0/pwm0", "gpio0_30", "gpio1_18"), # P9_11, P9_14 + "servo1": ("pwmchip0/pwm1", "gpio3_17", "gpio1_19"), # P9_28, P9_16 +} + +class servo_pwm: + def __init__(self, replicape, pin_params): + config_name = pin_params['pin'] + pwm_pin, resv1, resv2 = SERVO_PINS[config_name] + pin_params = dict(pin_params) + pin_params['pin'] = pwm_pin + # Setup actual pwm pin using linux hardware pwm on host + self.mcu_pwm = replicape.host_mcu.setup_pin("pwm", pin_params) + self.get_mcu = self.mcu_pwm.get_mcu + self.setup_max_duration = self.mcu_pwm.setup_max_duration + self.setup_start_value = self.mcu_pwm.setup_start_value + self.set_pwm = self.mcu_pwm.set_pwm + # Reserve pins to warn user of conflicts + pru_mcu = replicape.mcu_pwm_enable.get_mcu() + printer = pru_mcu.get_printer() + ppins = printer.lookup_object('pins') + ppins.reserve_pin(pru_mcu.get_name(), resv1, config_name) + ppins.reserve_pin(pru_mcu.get_name(), resv2, config_name) + def setup_cycle_time(self, cycle_time, hardware_pwm=False): + self.mcu_pwm.setup_cycle_time(cycle_time, True); + ReplicapeStepConfig = { 'disable': None, '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5), @@ -135,6 +161,8 @@ class Replicape: "power_hotbed": (pca9685_pwm, 4), "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8), "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) } + self.servo_pins = { + "servo0": 3, "servo1": 2 } # Setup stepper config self.last_stepper_time = 0. self.stepper_dacs = {} @@ -159,11 +187,7 @@ class Replicape: self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel) self.enabled_channels = {ch: False for cl, ch in self.pins.values()} - if config.getboolean('servo0_enable', False): - shift_registers[1] |= 1 - if config.getboolean('servo1_enable', False): - shift_registers[2] |= 1 - self.sr_disabled = tuple(reversed(shift_registers)) + self.sr_disabled = list(reversed(shift_registers)) if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]: # Enable xyz steppers shift_registers[0] &= ~1 @@ -173,7 +197,7 @@ class Replicape: if (config.getboolean('standstill_power_down', False) and self.stepper_dacs): shift_registers[4] &= ~1 - self.sr_enabled = tuple(reversed(shift_registers)) + self.sr_enabled = list(reversed(shift_registers)) self.sr_spi = bus.MCU_SPI(self.host_mcu, REPLICAPE_SHIFT_REGISTER_BUS, None, 0, 50000000, self.sr_disabled) self.sr_spi.spi_send(self.sr_disabled) @@ -211,10 +235,17 @@ class Replicape: self.sr_spi.spi_send(sr, minclock=clock, reqclock=clock) def setup_pin(self, pin_type, pin_params): pin = pin_params['pin'] - if pin not in self.pins: - raise pins.error("Unknown replicape pin %s" % (pin,)) - pclass, channel = self.pins[pin] - return pclass(self, channel, pin_type, pin_params) + if pin in self.pins: + pclass, channel = self.pins[pin] + return pclass(self, channel, pin_type, pin_params) + elif pin in self.servo_pins: + # enable servo pins via shift registers + index = self.servo_pins[pin] + self.sr_enabled[index] |= 1 + self.sr_disabled[index] |= 1 + self.sr_spi.spi_send(self.sr_disabled) + return servo_pwm(self, pin_params) + raise pins.error("Unknown replicape pin %s" % (pin,)) def load_config(config): return Replicape(config) |